Is there a way to create a macro program and run it in background logic to jog group 2 of the robot. So I have a cell with 2 Headstocks and I want to be able to jog the headstock that isn't running to make it easier to load parts. I know there is an option called detached jog but before I go down that road I wanted to get some input on here. Thanks
Jogging a group with a digital input
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joshrice1 -
November 3, 2020 at 5:40 PM -
Thread is Unresolved
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Hi joshrice1,
Background logic can't lock a motion group!
create one or more tp programs that will move the group to the needed position(s).
(Maybe with a Skip Condition inside for the DI)
Start these programs via Manual Function or DI...
check out if this is a "safe" solution!
best regards PnsStarter
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You could set DI as RSR input. With button pressed you would run RSR program in which you would move axis by some angle.
I used this one where operator moved G2 by 15° with each button pressed.
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Macro Job with Headstock Group Masked. Under MACRO menu, assign the DI's (Positive Jog and Negative Jog) you want to use to trigger the Macro. Here is an example of a job I wrote a while back:
/PROG JOG_A_SIDE Macro
1: IF DO[77:RefPos2 G3 SideB @ OP]=ON,JMP LBL[999] ;
2: LBL[1] ;
3: PR[100:Jog_Variable]=JPOS ;
4: IF DI[28:Jog A Positive]=OFF,JMP LBL[2] ;
5: ;
6: IF DI[7:A SIDE SHOT PIN EXTENDED]=OFF,JMP LBL[2] ;
7: ;
8: PR[100,1:Jog_Variable]=PR[100,1:Jog_Variable]+5 ;
9: ;
10: LBL[2] ;
11: ;
12: IF DI[29:Jog A Negative]=OFF,JMP LBL[3] ;
13: ;
14: PR[100,1:Jog_Variable]=PR[100,1:Jog_Variable]-5 ;
15: ;
16: LBL[3] ;
17: ;
18:J PR[100:Jog_Variable] 100% CNT100 ;
19: IF DI[28:Jog A Positive]=ON OR DI[29:Jog A Negative]=ON,JMP LBL[1] ;
20: ;
21: LBL[999] ;
Unless I'm misunderstanding your application - this should work for you, but of course change the increment/speed %'s if your application does not need the speed. With the IF, JMP LBL at the end, this should cause the macro to act like a BG_JOB, but not be a macro job.